去掉基站修改标签参数

zhyinch

2022-04-11 d5777a0e26f94314af6408c1dff8d34abf8ff9fc

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -396,7 +396,7 @@
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        int32_t temp_dist;
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
@@ -838,6 +838,8 @@
}
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -853,19 +855,6 @@
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
         
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            motorstate =1;
         }else{
            motorstate =0;
         }
			
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -873,18 +862,23 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
         motorstate =0;
      if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
                    motorstate =2;		
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
             motorstate =1;
					 
         }
      tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         if(remotesend_state)
         {
             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度		
         }else{
         tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
         dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22, 0);//设定发送长度
         }
      //   }
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

         
@@ -942,12 +936,14 @@
               {
               if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
						
                        g_Resttimer=0;
                        IWDG_Feed();
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;
                  filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
@@ -955,6 +951,8 @@
               tagdist_list[taglist_pos] = filter_dist;   
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=filter_dist;   
                        if(!g_com_map[MODBUS_MODE])
               {
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
@@ -973,7 +971,8 @@
               memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
               anc_report_num++;
            #endif
                #endif
                        }
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
@@ -1019,6 +1018,8 @@
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
       if(group_id==rx_buffer[GROUP_ID_IDX])
       {
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
@@ -1090,8 +1091,6 @@
            #endif
         if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
         {break;}
            if(group_id!=rx_buffer[GROUP_ID_IDX])
            {break;}
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
@@ -1136,4 +1135,5 @@
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}
}